Method for coordinating and monitoring objects

{
  "publication_number": "US11287799B2",
  "country": "US",
  "kind": "B2",
  "title": "Method for coordinating and monitoring objects",
  "abstract": "A method for coordinating and monitoring objects in a predefined spatial area that includes multiple subareas that are each associated with a respective subarea computing system includes position and movement information of objects in the particular subarea being ascertained by the particular subarea computing system using sensor units. A particular instantaneous surroundings map of the particular subarea is created by the particular subarea computing system using a particular surroundings map of the particular subarea and the position and movement information. The particular instantaneous surroundings maps are transmitted to a shared higher-order computing system which creates an instantaneous surroundings map of the predefined spatial area and, based on the map, coordinates movements of automated mobile objects in the spatial area with ascertainment of movement specifications that are transmitted to the subarea computing systems and from there to the automated mobile objects.",
  "claims": [
    "1. A method for a predefined spatial area that includes a plurality of subareas that each is associated with a respective subarea computing system, the method comprising: for each of the subareas: the respective subarea computing system of the respective subarea ascertaining position and movement information of objects in the respective subarea using a respective sensor unit of the respective subarea; the respective subarea computing system creating a respective instantaneous surroundings map of the respective subarea using a respective base surroundings map of the respective subarea and the ascertained position and movement information; and transmitting the respective instantaneous surroundings maps to a shared higher-order computing system shared by the subareas; the higher-order computing system creating an instantaneous surroundings map of the predefined spatial area; and based on the instantaneous surroundings map of the predefined spatial area, the higher-order computing system coordinating movements of automated mobile objects of the objects in the predefined spatial area using movement specifications that are transmitted to the subarea computing systems, and from the subarea computing systems to the automated mobile objects; wherein the transmitting of the respective instantaneous surroundings maps of the respective subareas includes one or more intermediate levels of computing system combining and abstracting the respective instantaneous surroundings maps of the respective subareas and transmitting a result of the combining and abstracting to the higher-order computing system.",
    "2. The method of claim 1, wherein position information of static objects of the objects and position and movement information of the mobile objects in the respective subareas are ascertained by the respective subarea computing system using the sensor units.",
    "3. The method of claim 1, further comprising ascertaining the movement specifications for the automated mobile objects taking into account static ones of the objects or non-automated mobile ones of the mobile objects as obstacles or as dynamic disturbance variables.",
    "4. The method of claim 1, further comprising the subarea computing systems monitoring movement of the automated mobile objects.",
    "5. The method of claim 1, wherein the sensor units include a camera, an ultrasonic sensor, a microphone, a proximity sensor, a radar, a time-of-flight camera, a LIDAR sensor, a radio module, a WLAN unit, a Bluetooth unit, an inertial sensor, or a distance sensor.",
    "6. A system comprising: a respective subarea computing system for each of a plurality of subareas of a predefined spatial area; and a shared higher-order computing system shared by the subareas; wherein: the respective subarea computing system of the respective subarea is configured to: ascertain position and movement information of objects in the respective subarea using a respective sensor unit of the respective subarea, the position and movement information including a speed of and movement direction of mobile objects of the objects in the respective subarea, the respective subarea computing system being separate from the mobile objects in the respective subarea; create a respective instantaneous surroundings map of the respective subarea using a respective base surroundings map of the respective subarea and the ascertained position and movement information, the respective instantaneous surroundings map including the movement direction of the mobile objects; and transmit the respective instantaneous surroundings maps to the shared higher-order computing system shared by the subareas; and the higher-order computing system is configured to: create an instantaneous surroundings map of the predefined spatial area; and based on the instantaneous surroundings map of the predefined spatial area, coordinate movements of automated mobile objects of the objects in the predefined spatial area using movement specifications that are transmitted to the subarea computing systems, and from the subarea computing systems to the automated mobile objects; wherein the transmission of the respective instantaneous surroundings maps of the respective subareas includes one or more intermediate levels of computing system combining and abstracting the respective instantaneous surroundings maps of the respective subareas and transmitting a result of the combining and abstracting to the higher-order computing system.",
    "7. At least one non-transitory computer-readable medium on which are stored instructions that are executable by a system that includes a respective subarea computing system for each of a plurality of subareas of a predefined spatial area and a shared higher-order computing system shared by the subareas, and which instructions, when executed by the system, cause the system to perform a method, the method comprising: for each of the subareas: the respective subarea computing system of the respective subarea ascertaining position and movement information of objects in the respective subarea using a respective sensor unit of the respective subarea, the position and movement information including a speed of and movement direction of mobile objects of the objects in the respective subarea, the respective subarea computing system being separate from the mobile objects in the respective subarea; the respective subarea computing system creating a respective instantaneous surroundings map of the respective subarea using a respective base surroundings map of the respective subarea and the ascertained position and movement information, the respective instantaneous surroundings map including the movement direction of the mobile objects; and transmitting the respective instantaneous surroundings maps to a shared higher-order computing system shared by the subareas; the higher-order computing system creating an instantaneous surroundings map of the predefined spatial area; and based on the instantaneous surroundings map of the predefined spatial area, the higher-order computing system coordinating movements of automated mobile objects of the objects in the predefined spatial area using movement specifications that are transmitted to the subarea computing systems, and from the subarea computing systems to the automated mobile objects; wherein the transmitting of the respective instantaneous surroundings maps of the respective subareas includes one or more intermediate levels of computing system combining and abstracting the respective instantaneous surroundings maps of the respective subareas and transmitting a result of the combining and abstracting to the higher-order computing system."
  ],
  "description_excerpt": "The present invention relates to a method for coordinating and monitoring objects in a predefined spatial area, as well as a system, and a computer program for carrying out the method.\n\nSystems or computer systems in industrial manufacturing environments are generally not linked to one another, or at least not flexibly or not arbitrarily. When a network is created, the linkages are generally star-shaped, in that individual production facilities or testing systems are connected to a central computer. In order to obtain information from certain network users or individual systems or individual computers, the information of the individual systems is generally accessed via the central computer.\n\nSecurity systems for monitoring manufacturing facilities are generally likewise only locally connected to the particular associated facility or production facility.\n\nExample embodiments of the present invention are directed to a method for coordinating and monitoring objects, as well as a system, and a computer program for carrying out the method.\n\nA method according to the present invention is used for coordinating and monitoring objects in a predefined spatial area, in particular using a system of linked computing systems. The spatial area can in particular be an area, in particular inside or outside of buildings, or one or multiple buildings with or without exterior surfaces, such as an industrial production building or plant premises or the like. In particular production facilities, robots, vehicles, or also persons are considered to be objects.",
  "cpc": [
    "G05B 19/4063",
    "G05B 19/4097",
    "G05B 19/4155",
    "G05B 19/41895",
    "G05D 1/0044",
    "G05D 1/0297",
    "G08G 1/096833",
    "G08G 1/165",
    "G08G 1/166",
    "H04L 67/12",
    "H04W 4/021",
    "H04W 4/029",
    "H04W 4/38",
    "H04W 4/70"
  ],
  "ipc": [
    "H04L 29/08",
    "G05B 19/4063",
    "G05B 19/4097",
    "G05B 19/4155",
    "G05D 1/00",
    "G05B 19/418",
    "G05D 1/02",
    "H04L 67/12"
  ],
  "assignees": [
    "Robert Bosch GmbH"
  ],
  "inventors": [
    "Andreas Albrecht",
    "Keerthana Govindaraj",
    "Volker Henrichs"
  ],
  "filing_date": "2019-08-23",
  "publication_date": "2022-03-29",
  "grant_date": "2022-03-29",
  "priority_date": "2018-08-28",
  "application_number": "US-201916549591-A",
  "family_id": "69526812",
  "cited_by_count": 1,
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}